math_tools.algebra.quaternions Namespace Reference

Classes
class	Quaternion

Functions
def	dbl2str
def	permutation_uvw
def	unit_quaternion
def	unit_quaternion_velocity
def	normalized_quaternion

Function Documentation

def math_tools.algebra.quaternions.dbl2str

(

n

)

Definition at line 21 of file quaternions.py.

def math_tools.algebra.quaternions.normalized_quaternion

(

TRM

)

Returns a vector (3 X 1) containing elements of the normalized quaternion corresponding to transformation matrix TRM. 
(TRM is the 4*4 transformation matrix) 
A normalized quaternion here means a quaternion that its real part is 1.0

Definition at line 212 of file quaternions.py.

def math_tools.algebra.quaternions.permutation_uvw

(

R

)

Definition at line 133 of file quaternions.py.

def math_tools.algebra.quaternions.unit_quaternion

(

TRM

)

Returns a vector (4 X 1) containing elements of the unit quaternion corresponding to transformation or rotation matrix TRM. 
(TRM can be the 4*4 transformation matrix or 3*3 rotation matrix)
the first element of the output vector contains the scalar part of the unit quaternion and the last three elements represent the vectorial part

Definition at line 152 of file quaternions.py.

def math_tools.algebra.quaternions.unit_quaternion_velocity	(		TRM,
			TRMD
	)

Returns a vector (4 X 1) containing elements of the time derivation of the unit quaternion corresponding to transformation or rotation matrix TRM.
Matrix TRMD is the time derivative of the given transfer or rotation matrix TRM
  
(TRM and TRMD can be 4*4 transformation or 3*3 rotation matrices)

The last three elements of the output vector, represent the vectorial part 
The first element, contains the real part of the unit quaternion speed.

Definition at line 180 of file quaternions.py.